Firstly I would like to thank Mirko Denecke (vielen Dank Mirko!) for his work
doing ardupilot compatible with beaglebone Blue. This post is based on his
instructions. For the most up-to-date
information see the last link.

Preparing the Beaglebone Blue

Before running ardupilot on our board it’s necessary, among other steps, to
install some utilities, to set clock to 1 GHz and to install RT Kernel. Let’s
start with.

Check for updates and install them:

sudo apt update
sudo apt upgrade -y

Install utilities:

sudo apt install -y bb-cape-overlays cpufrequtils

Now we are going to set clock to 1 GHz and update scripts, which are
necessary for RT Kernel installation:

Connecting with a ground station

There are a lot of ground station software, some for PC (Linux, Mac OS X and
Windows) and other ones for phones. All these possibilities use MAVLink to
connect to an UAV. You can choose the better one for you reading
this article
of Ardupilot website. I found interesting the app Tower for android.

On your phone side, you have to configure which Server IP and Server Port are
used and on beaglebone you can run arducopter like below: